Add stamp to published pointclouds

Huguet57 · web-flow · commit a2130cef6dcd · 2022-02-25T20:58:21.000+08:00
Fixes Issue Huguet57#17. The stamp is the timestamp of its latest point.
diff --git a/include/Headers/Publishers.hpp b/include/Headers/Publishers.hpp
@@ -53,6 +53,7 @@ class Publishers {
             
             pcl::PointCloud<full_info::Point> pcl;
             pcl.header.frame_id = "map";
+            pcl.header.stamp = Conversions::sec2Microsec(points.back().time);
             Processor::fill(pcl, points);
 
             if (part) this->publish_pcl(pcl, this->pcl_pub);
@@ -216,4 +217,4 @@ class Publishers {
             }
         }
 
-};
+};

Original file line number	Diff line number	Diff line change
`@@ -53,6 +53,7 @@ class Publishers {`
`53`	`53`
`54`	`54`	`pcl::PointCloud<full_info::Point> pcl;`
`55`	`55`	`pcl.header.frame_id = "map";`
	`56`	`+ pcl.header.stamp = Conversions::sec2Microsec(points.back().time);`
`56`	`57`	`Processor::fill(pcl, points);`
`57`	`58`
`58`	`59`	`if (part) this->publish_pcl(pcl, this->pcl_pub);`
`@@ -216,4 +217,4 @@ class Publishers {`
`216`	`217`	`}`
`217`	`218`	`}`
`218`	`219`
`219`		`-};`
	`220`	`+};`